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Determination of the initial conditions by solving boundary value problem method for period-one walking of a passive biped walking robots

Published online by Cambridge University Press:  13 March 2015

Masoumeh Safartoobi,
Morteza Dardel,
Mohammad Hassan Ghasemi and
Hamidreza Mohammadi Daniali
Masoumeh Safartoobi
Affiliation:
Department of Mechanical Engineering, Babol Noshirvani University of Technology, P.O. Box 484, Postal Code: 47148-71167, Shariati Street, Babol, Mazandaran, Iran
Morteza Dardel*
Affiliation:
Department of Mechanical Engineering, Babol Noshirvani University of Technology, P.O. Box 484, Postal Code: 47148-71167, Shariati Street, Babol, Mazandaran, Iran
Mohammad Hassan Ghasemi
Affiliation:
Department of Mechanical Engineering, Babol Noshirvani University of Technology, P.O. Box 484, Postal Code: 47148-71167, Shariati Street, Babol, Mazandaran, Iran
Hamidreza Mohammadi Daniali
Affiliation:
Department of Mechanical Engineering, Babol Noshirvani University of Technology, P.O. Box 484, Postal Code: 47148-71167, Shariati Street, Babol, Mazandaran, Iran
*
*Corresponding author. E-mail: dardel@nit.ac.ir
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Summary

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With regard to the small basin of attraction of the passive limit cycles, it is important to start from a proper initial condition for stable walking. The present study investigates the passive dynamic behaviors of two-dimensional bipedal walkers of a compass gait model with different foot shapes. In order to find proper initial conditions for stable and unstable period-one gait limit cycles, a method based on solving the nonlinear equations of motion is presented as a boundary value problem (BVP). An initial guess is required to solve the related BVP that is obtained by solving an initial value problem (IVP). For parametric analysis purposes, a continuation method is applied. Simulation results reveal two, period-one gait cycles and the effects of parameters variation for all models.

Keywords

Passive dynamicBipedal walkerInitial conditionsPeriod-one gait limit cycle

Information

Type
Articles
Information
Robotica , Volume 35 , Issue 1 , January 2017, pp. 166 - 188
Copyright
Copyright © Cambridge University Press 2015 

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